US10295410B2 - Systems and methods for the remote detection of greenhouse atmospheric gas - Google Patents
Systems and methods for the remote detection of greenhouse atmospheric gas Download PDFInfo
- Publication number
- US10295410B2 US10295410B2 US15/694,714 US201715694714A US10295410B2 US 10295410 B2 US10295410 B2 US 10295410B2 US 201715694714 A US201715694714 A US 201715694714A US 10295410 B2 US10295410 B2 US 10295410B2
- Authority
- US
- United States
- Prior art keywords
- atmospheric gas
- component data
- thermal infrared
- infrared energy
- mwir
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000001514 detection method Methods 0.000 title abstract description 13
- 230000003595 spectral effect Effects 0.000 claims abstract description 150
- 230000003287 optical effect Effects 0.000 claims abstract description 103
- 239000007789 gas Substances 0.000 claims description 108
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 50
- 239000005431 greenhouse gas Substances 0.000 claims description 24
- 238000010521 absorption reaction Methods 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 9
- 238000010586 diagram Methods 0.000 description 32
- 230000006870 function Effects 0.000 description 10
- 230000004044 response Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 238000004590 computer program Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 238000009826 distribution Methods 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 238000003491 array Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000037361 pathway Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 238000001228 spectrum Methods 0.000 description 2
- XHCLAFWTIXFWPH-UHFFFAOYSA-N [O-2].[O-2].[O-2].[O-2].[O-2].[V+5].[V+5] Chemical compound [O-2].[O-2].[O-2].[O-2].[O-2].[V+5].[V+5] XHCLAFWTIXFWPH-UHFFFAOYSA-N 0.000 description 1
- WATWJIUSRGPENY-UHFFFAOYSA-N antimony atom Chemical compound [Sb] WATWJIUSRGPENY-UHFFFAOYSA-N 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000009313 farming Methods 0.000 description 1
- 239000002803 fossil fuel Substances 0.000 description 1
- WPYVAWXEWQSOGY-UHFFFAOYSA-N indium antimonide Chemical compound [Sb]#[In] WPYVAWXEWQSOGY-UHFFFAOYSA-N 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- NMJORVOYSJLJGU-UHFFFAOYSA-N methane clathrate Chemical compound C.C.C.C.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O NMJORVOYSJLJGU-UHFFFAOYSA-N 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 239000004984 smart glass Substances 0.000 description 1
- 238000004611 spectroscopical analysis Methods 0.000 description 1
- 238000010183 spectrum analysis Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000010257 thawing Methods 0.000 description 1
- 229910001935 vanadium oxide Inorganic materials 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0014—Radiation pyrometry, e.g. infrared or optical thermometry for sensing the radiation from gases, flames
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
- G01J3/02—Details
- G01J3/0205—Optical elements not provided otherwise, e.g. optical manifolds, diffusers, windows
- G01J3/021—Optical elements not provided otherwise, e.g. optical manifolds, diffusers, windows using plane or convex mirrors, parallel phase plates, or particular reflectors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
- G01J3/28—Investigating the spectrum
- G01J3/30—Measuring the intensity of spectral lines directly on the spectrum itself
- G01J3/36—Investigating two or more bands of a spectrum by separate detectors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
- G01J3/28—Investigating the spectrum
- G01J3/42—Absorption spectrometry; Double beam spectrometry; Flicker spectrometry; Reflection spectrometry
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/007—Radiation pyrometry, e.g. infrared or optical thermometry for earth observation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/02—Constructional details
- G01J5/08—Optical arrangements
- G01J5/0806—Focusing or collimating elements, e.g. lenses or concave mirrors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
- G01N21/35—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light
- G01N21/3504—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light for analysing gases, e.g. multi-gas analysis
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B17/00—Systems with reflecting surfaces, with or without refracting elements
- G02B17/08—Catadioptric systems
- G02B17/0836—Catadioptric systems using more than three curved mirrors
- G02B17/0848—Catadioptric systems using more than three curved mirrors off-axis or unobscured systems in which not all of the mirrors share a common axis of rotational symmetry, e.g. at least one of the mirrors is warped, tilted or decentered with respect to the other elements
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B17/00—Systems with reflecting surfaces, with or without refracting elements
- G02B17/08—Catadioptric systems
- G02B17/0852—Catadioptric systems having a field corrector only
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B17/00—Systems with reflecting surfaces, with or without refracting elements
- G02B17/08—Catadioptric systems
- G02B17/0864—Catadioptric systems having non-imaging properties
- G02B17/0876—Catadioptric systems having non-imaging properties for light collecting, e.g. for use with a detector
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B19/00—Condensers, e.g. light collectors or similar non-imaging optics
- G02B19/0033—Condensers, e.g. light collectors or similar non-imaging optics characterised by the use
- G02B19/0076—Condensers, e.g. light collectors or similar non-imaging optics characterised by the use for use with a detector
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B19/00—Condensers, e.g. light collectors or similar non-imaging optics
- G02B19/0033—Condensers, e.g. light collectors or similar non-imaging optics characterised by the use
- G02B19/009—Condensers, e.g. light collectors or similar non-imaging optics characterised by the use for use with infrared radiation
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/42—Diffraction optics, i.e. systems including a diffractive element being designed for providing a diffractive effect
- G02B27/4205—Diffraction optics, i.e. systems including a diffractive element being designed for providing a diffractive effect having a diffractive optical element [DOE] contributing to image formation, e.g. whereby modulation transfer function MTF or optical aberrations are relevant
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
- G01N21/35—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light
- G01N21/3504—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light for analysing gases, e.g. multi-gas analysis
- G01N2021/3531—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light for analysing gases, e.g. multi-gas analysis without instrumental source, i.e. radiometric
Definitions
- Embodiments of the disclosure relate generally to atmospheric gas detection, and more specifically, to the use of thermal spectroscopic analysis across multiple wavelengths to detect the presence of greenhouse atmospheric gas.
- Methane is emitted from natural and anthropogenic sources including fossil fuel extraction and processing, farming, permafrost thawing, ocean-floor methane-hydrate mobilization, landfills and infrastructure leaks and failure.
- Professional ground and/or aerial inspections may include detecting natural gas transmission and distribution lines for leaks and failures, monitoring gas facilities or wellfields for leaks, and mapping the presence of naturally occurring seeps and plumes for harmful concentrations of greenhouse gases such as methane.
- the ability to detect the occurrence of methane leaks and natural sources, map their distribution, and quantify emission rates at high spatial resolution over wide areas can be incredibly useful for a number of industries and applications from energy exploration to environmental monitoring.
- the disclosure describes various systems and methods for the remote detection of greenhouse atmospheric gas.
- a system for the remote detection of greenhouse atmospheric gas may include a collector that receives thermal infrared energy from a column of atmosphere, and multiple optical subsystems including focusing elements and diffraction gratings in optical alignment with the collector.
- the optical subsystems may be operative to receive the incoming thermal infrared energy at the collector and focus, with the focusing elements, the thermal infrared energy onto the diffraction gratings.
- the diffraction gratings may disperse the thermal infrared energy at a wavelength within a mid-wavelength infrared (MWIR) spectral region and a wavelength within a long-wavelength infrared (LWIR) spectral region.
- MWIR mid-wavelength infrared
- LWIR long-wavelength infrared
- the system may further include multiple detectors in optical alignment with the optical subsystems.
- the detectors may be operative to receive the thermal infrared energy dispersed from the diffraction gratings within the MWIR spectral region and the LWIR spectral region and determine spectral component data associated with the thermal infrared energy in the MWIR spectral region and the LWIR spectral region.
- the system may further include a computing device having at least one processor. The computing device may be in communication with the detectors and operative to receive the spectral component data from the detectors and detect an atmospheric gas based on the spectral component data.
- the computing device may be operative to detect the atmospheric gas by comparing an atmospheric gas corresponding to the spectral component data in the MWIR spectral region to an atmospheric gas corresponding to the spectral component data in the LWIR spectral region to determine a match.
- the detected atmospheric gas may be methane.
- the atmospheric gas may not be detected when the atmospheric gas corresponding to the spectral component data in the MWIR spectral region does not match the atmospheric gas corresponding to the spectral component data in the LWIR spectral region (e.g., a false positive).
- the computing device may be further operative to receive positioning data corresponding to a location of the detected atmospheric gas from a positioning device and update a spatial map with the positioning data and a concentration of the detected atmospheric gas.
- the spatial map may include multiple locations and concentrations of previously detected atmospheric gases.
- the optical subsystems may include multiple mirrors and the mirrors and the focusing elements may form multiple optical paths.
- the optical subsystems may include a MWIR optical subsystem and a LWIR optical subsystem.
- the MWIR optical subsystem may be co-aligned with the LWIR optical subsystem.
- a method utilized by the above-described system may include (1) receiving, at a collector, thermal infrared energy from a column of atmosphere, (2) receiving, at optical subsystems, the incoming thermal infrared energy at the collector over optical paths, (3) focusing the thermal infrared energy onto diffraction gratings that disperse the thermal infrared energy at a wavelength within a mid-wavelength infrared (MWIR) spectral region and a wavelength within a long-wavelength infrared (LWIR) spectral region, (4) receiving, at detectors, the thermal infrared energy dispersed from the diffraction gratings within the MWIR spectral region and the LWIR spectral region, (5) determining spectral component data associated with the thermal infrared energy in the MWIR spectral region and the LWIR spectral region, (6) sending the spectral component data to a computing device, and (7) identifying an atmospheric gas based on the spectral
- portions of the above-described method may be encoded as computer-readable instructions on a non-transitory computer-readable medium.
- a computer-readable medium may include one or more computer-executable instructions that, when executed by at least one processor of a computing device, may cause the computing device to (1) receive, from multiple detectors, spectral component data that is associated with thermal infrared energy at a wavelength within a mid-wavelength infrared (MWIR) spectral region and spectral component data that is associated with a wavelength within a long-wavelength infrared (LWIR) spectral region and (2) detect an atmospheric gas based on the spectral component data by (a) comparing a first atmospheric gas associated with the spectral component data in the MWIR spectral region to a second atmospheric gas corresponding to the spectral component data in the LWIR spectral region and (b) determining the atmospheric gas based on the comparison.
- MWIR mid-wavelength infrared
- LWIR long-wavelength in
- FIG. 1 illustrates a block diagram of an example system that may be utilized in accordance with various embodiments.
- FIG. 2 illustrates a diagram of an optical model utilized by the example system of FIG. 1 , according to an example embodiment.
- FIG. 3 illustrates a diagram of an optical model utilized by the example system of FIG. 1 , according to another example embodiment.
- FIG. 4 illustrates a flow diagram of an example process for remotely detecting greenhouse atmospheric gas, according to an example embodiment.
- a collector may receive thermal infrared energy from a column of atmosphere.
- a first optical subsystem and a second optical subsystem may receive the thermal infrared energy at the collector over optical paths and focus the thermal infrared energy onto diffraction gratings.
- a first diffraction grating may disperse the thermal infrared energy within a mid-wavelength infrared (MWIR) band and a second diffraction grating may disperse the thermal infrared energy within a long-wavelength infrared (LWIR) band.
- MWIR mid-wavelength infrared
- LWIR long-wavelength infrared
- Detectors may then receive the thermal infrared energy dispersed MWIR and LWIR bands and determine spectral component data corresponding to a concentration of an atmospheric gas.
- the detectors may send the spectral component data to a processor for identification of the atmospheric gas.
- the accuracy of detecting greenhouse atmospheric gases is increased as compared to traditional methods.
- Various embodiments, as described herein, provide for the co-acquisition of both LWIR and MWIR hyperspectral imagery.
- the utilization of both LWIR and MWIR spectral methods for detecting atmospheric gases provides a robust and flexible set of tools for accurate detection under any atmospheric conditions, surface type, or scene heterogeneity (e.g., from urban to forested landscapes).
- FIG. 1 represents a block diagram of an example system 100 for the remote detection of an atmospheric gas, according to various embodiments.
- atmospheric gas generally refers to any atmospheric gas that absorbs and emits radiation within the thermal infrared range (e.g., a greenhouse gas).
- a greenhouse gas is methane.
- the system 100 may be configured to be mounted to a mobile airborne platform (e.g., a UAV or manned aircraft) (not shown), capable of being flown at low above ground levels, for locating and quantifying methane gas leaks emanating from natural sources or infrastructure used in the oil and gas industry.
- a mobile airborne platform e.g., a UAV or manned aircraft
- the system 100 may be configured to be mounted to a mobile ground-based platform (e.g., a motor vehicle) for locating and detecting methane from a ground level stand-off position.
- the system 100 may be configured to be utilized as a handheld surface imager for locating and detecting methane from a surface.
- the system 100 may include a thermal infrared energy collection and detection device 105 which may include a collector 110 , a MWIR optical subsystem 115 , a LWIR optical subsystem 120 , a MWIR detector 135 , a LWIR detector 140 , and a positioning system 145 .
- the device 105 may be functionally coupled to a computing device 150 .
- the collector 110 is an optical pathway configured to receive thermal infrared energy 102 radiating from a natural or constructed surface (e.g., the ground) and an overlying atmospheric column.
- the collector 110 may further be configured to redirect the thermal infrared energy 102 to both the MWIR optical subsystem 115 and the LWIR optical subsystem 120 which, in one embodiment, may include co-aligned or independent optical systems.
- Each of the MWIR optical subsystem 115 and the LWIR optical subsystem 120 may incorporate one or more mirrors and a focusing element to form optical paths in order to achieve both a wide (e.g., 30 degree) field of view, optimal spectral dispersion, and a small form factor.
- each of the optical subsystems 115 and 120 may incorporate three or more mirrors and a focusing element for each optical path to achieve the aforementioned field of view while retaining a small form factor.
- the collector 110 and subsystems 115 and 120 may include curved reflective optical mirrors which reflect and focus incoming light (i.e., the thermal infrared energy 102 ) onto dispersive diffraction gratings (e.g., diffraction gratings 125 and 130 ).
- the diffraction gratings 125 and 130 may each disperse light at different lines per millimeter and at different wavelengths.
- the diffraction grating 125 may disperse light at 150 lines per millimeter with a blaze wavelength of 3.3 microns while the diffraction grating 130 may disperse light at 25 lines per millimeter with a blaze wavelength of 8 microns.
- the diffraction gratings 125 and 130 may be blazed gratings (also known as echelette gratings) which is a form of reflective or transmission diffraction grating designed to produce the maximum grating efficiency in a specific diffraction order. Due to this design, a blazed grating operates at a specific wavelength, known as the blaze wavelength.
- the thermal infrared energy 102 (i.e., refractive light) from the diffraction grating 125 may be focused on a MWIR-sensitive insidium antimonide (InSb) focal plane array (e.g., the MWIR detector 135 ) and the thermal infrared energy 102 from the diffraction grating 130 may be focused on a LWIR-sensitive vanadium oxide microbolometer array (e.g., the LWIR detector 140 ). It should be understood that other MWIR-sensitive and LWIR-sensitive arrays may also be utilized.
- InSb insidium antimonide
- the optical subsystems 115 and 120 may capture the radiant spectral response of the emitted thermal infrared energy 102 .
- the MWIR optical subsystem 115 may capture a radiant spectral response of emitted energy from 3 microns to 4 microns while the LWIR optical subsystem 120 may capture a radiant spectral response of emitted energy from 7.5 microns to 11 microns.
- the 3 micron to 4 micron and 7.5 micron to 11 micron regions may cover the major rotational and vibrational absorption features of methane and other greenhouse gases as well as other common geologic surface materials, thereby effectively allowing for the unique identification and discrimination of the gas and surface spectral components in an instantaneous field of view.
- spectral features in both the MWIR and LWIR thermal infrared regions may be captured by using each of the MWIR and LWIR detectors 135 and 140 (e.g., focal plane arrays) as a line scan spectral image.
- the movement of the system 100 across an area of interest e.g., a surface and the overlying atmospheric column
- a full spectrum representation of the emitted energy may be represented by a pixel in a raster data cube.
- the spectral component data 137 and 147 may be recorded as information on the computing device 150 as one or more data files 164 .
- Each spectrum (e.g., pixel) in the spectral component data 137 and 147 may be deconvolved by the computing device 150 using a library of gas species and common geologic materials which may be stored in the data files 164 .
- the resulting data (which may also be stored in the data files 164 ) may include relative abundances of surface and gas species, including methane gas calculated using both MWIR and LWIR spectral regions.
- the computing device 150 may be configured to reconstruct a spatial map 165 of the aforementioned data results using positioning data 149 received from a positioning device 145 in the system 100 .
- the positioning data 149 may be projected onto a map (e.g., spatial maps 165 ) to display the locations and concentrations of the gas and surface spectral components.
- the computing device 150 may also be configured to collect location and look angle information (e.g., the positioning data 149 ) from the positioning device 145 (which may include an inertial measurement unit (IMU) and/or a global positioning system (GPS)).
- the positioning device 145 may either be incorporated into or attached to the system 100 .
- the system 100 may be capable of measuring the contribution of methane and other greenhouse gases to the spectral radiation coming from a well-constrained field of view of the earth's surface and the atmosphere between the surface and the system 100 .
- the system 100 may be configured such that it consists of a sufficiently small size and weight capable of being flown on a manned aircraft, an unmanned aircraft, or used as a handheld or mounted surface imager.
- the computing device 150 may include any number of processor-driven devices, including, but not limited to, a mobile computer (e.g., a mobile phone, smartphone, tablet computing device, etc.), a desktop computing device, a laptop computing device, wearable devices (e.g., smart watches, smart glasses, etc.), an application-specific circuit, a minicomputer, a microcontroller, combinations of one or more of the same, or any other suitable processor-driven devices.
- the computing device 150 may utilize one or more processors 160 to execute computer-readable instructions that facilitate the general operation of the computing device 150 and/or the detection/identification of atmospheric gases from received spectral component data.
- the computing device 150 may further include and/or be associated with one or more memory devices 161 , input/output (“I/O”) interface(s) 162 , and/or communication and/or network interface(s) 163 .
- the memory 161 may be any computer-readable medium, coupled to the processor(s) 160 , such as random access memory (“RAM”), read-only memory (“ROM”), and/or a removable storage device.
- RAM random access memory
- ROM read-only memory
- the memory 161 may store a wide variety of data files 164 and/or various program modules, such as an operating system (“OS”) 166 , an IMU/GPS application 168 and one or more spatial maps 165 .
- OS operating system
- IMU/GPS application 168 IMU/GPS application
- the data files 164 may include any suitable data that facilitates the operation of the computing device 150 and/or interaction of the computing device 150 with one or more other components of the system 100 (e.g., the MWIR detector 135 , the LWIR detector 140 , and the positioning system 145 ).
- the data files 164 may include information associated with the spectral component data 137 , the spectral component data 147 , and the positioning data 149 received from the device 105 in the system 100 .
- the OS 166 may be a suitable module that facilitates the general operation of the computing device 150 , as well as the execution of other program modules.
- the OS 166 may be, but is not limited to, Microsoft Windows®, Apple OSXTM, Unix, a mainframe computer operating system (e.g., IBM z/OS, MVS, OS/390, etc.), or a specially designed operating system.
- the OS 166 may be a suitable mobile OS or a specially designed operating system.
- the computing device 150 may additionally include one or more communication modules that facilitate interaction with other computing devices and/or other communications functionality.
- a suitable near field communication module, radio frequency module, Bluetooth module, or other suitable communication module may be included in computing device 150 .
- the one or more I/O interfaces 162 may facilitate communication between the computing device 150 and one or more input/output devices; for example, one or more user interface devices, such as a display, a keypad, a touch screen display, a microphone, a speaker, etc., that facilitate user interaction with the computing device 150 .
- the one or more network and/or communication interfaces 163 may facilitate connection of the computing device 150 to one or more suitable networks (not shown). In this regard, the computing device 150 may receive and/or communicate information to other components of the system 100 (such as the device 105 ).
- system 100 shown in and described with respect to FIG. 1 is provided by way of example only. Numerous other operating environments, system architectures, and/or device configurations are possible. Other system embodiments can include fewer or greater numbers of components and may incorporate some or all of the functionality described with respect to the system components shown in FIG. 1 . Accordingly, embodiments of the disclosure should not be construed as being limited to any particular operating environment, system architecture, or device configuration.
- FIG. 2 illustrates a diagram of an optical model 200 utilized by the example system of FIG. 1 , according to an example embodiment.
- the optical model 200 (which may correspond to the MWIR optical subsystem 115 or the LWIR optical subsystem 120 ) may include a number of elliptical and parabolic optical components or troughs (e.g., mirrors) used for focusing received thermal infrared energy 202 radiating from a ground surface and an overlying atmospheric column.
- an elliptical trough 204 may focus the thermal infrared energy 202 to an elliptical trough 206 which in turn may focus the thermal infrared energy 202 to the parabolic trough 208 .
- the parabolic trough 208 may then focus the thermal infrared energy 202 through an x-dimension slit 210 and a y-dimension slit 212 to an elliptical trough 214 which in turn may focus the thermal infrared energy 202 through a lens 215 onto a diffraction grating 216 .
- the diffraction grating 216 may then disperse the thermal infrared energy 202 onto a detector 218 as described above with respect to FIG. 1 .
- the elliptical and parabolic troughs 206 and 208 may be mirrors designed to have predetermined specifications to facilitate the focusing of the thermal infrared energy 202 .
- four mirrors may be utilized having the following specifications: Mirror 1: Circular Trough, Radius of Curvature (ROC) X: 111.149 mm (acceptable range: 110 mm to 112 mm) ROC Y: Inf., Conic X: 0; Mirror 2: Elliptical Trough, ROC X: 152 mm (acceptable range: 150 mm to 154 mm) ROC Y: Inf., Conic X: ⁇ 0.25 (range: ⁇ 0.24 to ⁇ 0.26) Full X Aperture: 60 mm Full Y; Mirror 3: Parabolic Trough, ROC X: Inf., ROC Y: 325 mm (acceptable range: 320 mm to 330 mm) Conic Y: ⁇ 1 Full
- FIG. 3 illustrates a diagram of a view of an optical model 300 utilized by the example system of FIG. 1 , according to another example embodiment.
- the optical model 300 which may correspond to the MWIR optical subsystem 115 or the LWIR optical subsystem 120 .
- the optical model 300 may correspond to the LWIR optical subsystem 120 .
- the optical model 300 may correspond to the MWIR optical subsystem 115 .
- the optical model 300 may include a number of optical components or troughs (e.g., mirrors) used for focusing received thermal infrared energy 302 radiating from a ground surface and an overlying atmospheric column.
- the trough 304 may focus the thermal infrared energy 302 to the trough 306 which in turn may focus the thermal infrared energy 302 to the parabolic trough 308 .
- the parabolic trough 308 may then focus the thermal infrared energy 302 through slits 310 and 312 to a trough 314 which in turn may focus the thermal infrared energy 302 onto a diffraction grating 316 .
- the diffraction grating 316 may then disperse the thermal infrared energy 302 onto a detector 318 as described above with respect to FIG. 1 .
- the elliptical and parabolic troughs 306 and 308 may be mirrors designed to have predetermined specifications to facilitate the focusing of the thermal infrared energy 302 similar to those as described above with respect to the elliptical and parabolic troughs 206 and 208 shown FIG. 2 . It is understood that the above descriptions are for purposes of illustration and are not meant to be limiting.
- FIG. 4 illustrates a flow diagram of an example process 400 for remotely detecting an atmospheric gas, according to an example embodiment.
- the operations of the example process 400 may be performed by the system 100 illustrated in FIG. 1 .
- the method 400 may begin at block 405 .
- the collector 110 may receive the thermal infrared energy 102 from a column of atmosphere.
- the collector 110 may receive the thermal infrared energy 102 in a variety of ways.
- the collector 110 may be an optical pathway that receives the thermal infrared energy 102 as it is radiating from a natural or constructed surface (e.g., the ground) and an overlying atmospheric column.
- a first optical subsystem e.g., the MWIR optical subsystem 115
- a second optical subsystem e.g., the LWIR optical subsystem 120
- the optical subsystems 115 and 120 may receive the thermal infrared energy 102 in a variety of ways.
- the collector 110 may redirect the thermal energy 102 to both the MWIR optical subsystem 115 and the LWIR optical system 120 .
- the MWIR optical subsystem 115 and the LWIR optical system 120 may be co-aligned with one another.
- the MWIR optical subsystem 115 and the LWIR optical system 120 may be independent optical subsystems.
- the first and second optical subsystems may focus the thermal infrared energy 102 onto a first diffraction grating (e.g., the diffraction grating 125 ) and a second diffraction grating (e.g., the diffraction grating 130 ).
- a first diffraction grating e.g., the diffraction grating 125
- a second diffraction grating e.g., the diffraction grating 130
- the MWIR optical subsystem 115 and the LWIR optical subsystem 120 may focus the thermal infrared energy 102 onto the diffraction gratings 125 and 130 in a variety of ways.
- elliptical troughs 204 , 206 and 214 , parabolic trough 208 , and lens 215 may focus the thermal infrared energy 102 onto the diffraction grating 125 .
- lens 215 shown in the LWIR optical subsystem 120 .
- elliptical troughs 304 , 306 and 314 , parabolic trough 308 , and lens 315 shown in FIG.
- the diffraction grating 125 may be configured to disperse the thermal infrared energy 102 at a first wavelength within a MWIR spectral region and the diffraction grating 130 may be configured to disperse the thermal infrared energy 102 at a second wavelength within a LWIR spectral region.
- a first detector (e.g., the MWIR detector 135 ) may receive the thermal infrared energy 102 dispersed from a first diffraction grating (e.g., the diffraction grating 125 ) within the MWIR spectral region.
- a first diffraction grating e.g., the diffraction grating 125
- a second detector e.g., the LWIR detector 140
- a second detector may be configured to receive the thermal infrared energy 102 dispersed from a second diffraction grating (e.g., the diffraction grating 130 ) within the LWIR spectral region.
- the first detector may determine spectral component data associated with the thermal infrared energy 102 in the MWIR spectral region.
- MWIR detector 135 may determine the spectral component data 137 .
- the spectral component data 137 may correspond to a concentration of one or more atmospheric gases.
- the spectral component data 137 may correspond to a concentration of methane gas.
- the MWIR detector 135 may determine the spectral component data 137 in a variety of ways.
- the spectral component data 137 may be determined from the radiant spectral response of the emitted thermal infrared energy 102 that correspond to major rotational and vibrational absorption features of methane and other greenhouse gases as well as other common geologic surface materials.
- the MWIR detector 135 in the optical subsystem 115 may capture a radiant spectral response of emitted energy from 3 microns to 4 microns corresponding to concentration of methane and/or other greenhouse gases.
- the second detector may determine spectral component data associated with the thermal infrared energy 102 in the LWIR spectral region.
- the LWIR detector 140 may determine the spectral component data 147 .
- the spectral component data 147 may correspond to a concentration of one or more atmospheric gases.
- the spectral component data 147 may correspond to a concentration of methane gas.
- the LWIR detector 140 may determine the spectral component data 147 in a variety of ways.
- the spectral component data 147 may be determined from the radiant spectral response of the emitted thermal infrared energy 102 that correspond to major rotational and vibrational absorption features of methane and other greenhouse gases as well as other common geologic surface materials.
- the LWIR detector 140 in the optical subsystem 120 may capture a radiant spectral response of emitted energy from 7.5 microns to 11 microns corresponding to a concentration of methane and/or other greenhouse gases.
- the first detector may send the spectral component data to a computing device for identification of one or more atmospheric gases.
- the MWIR detector 135 may be configured to send the spectral component data 137 to the computing device 150 for identification of one or more atmospheric gases in the MWIR region.
- the second detector may send the spectral component data to a computing device for identification of one or more atmospheric gases.
- the LWIR detector 140 may be configured to send the spectral component data 147 to the computing device 150 for identification of one or more atmospheric gases in the LWIR region.
- the computing device may determine whether an atmospheric gas detected in the MWIR region by the first detector is in agreement with an atmospheric gas detected in the LWIR region by the second detector. For example, the computing device 150 may compare the spectral component data 137 received from the MWIR detector 135 in the MWIR band to the spectral component data 147 received from the LWIR detector 140 to determine if the same atmospheric gas is detected in the LWIR band. If the computing device 150 determines that an atmospheric gas corresponding to the spectral component data 137 matches an atmospheric gas corresponding to the spectral component data 147 , then the process 400 continues to block 455 where the computing device 150 may verify that a particular atmospheric gas (e.g., methane) has been detected.
- a particular atmospheric gas e.g., methane
- the process 400 continues to block 460 where the computing device 150 may identify and indicate a false positive with respect to the detection of a particular atmospheric gas.
- the computer-executable program instructions may be loaded onto a special purpose computer or other particular machine, a processor, or other programmable data processing apparatus to produce a particular machine, such that the instructions that execute on the computer, processor, or other programmable data processing apparatus create means for implementing one or more functions specified in the flow diagram block or blocks.
- the computer program instructions may also be stored in a non-transitory computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the non-transitory computer-readable memory produce an article of manufacture including instruction means that implement one or more functions specified in the flow diagram block or blocks.
- embodiments of the may provide for a computer program product, comprising a computer-usable medium having a computer-readable program code or program instructions embodied therein, said computer-readable program code adapted to be executed to implement one or more functions specified in the flow diagram block or blocks.
- the computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational elements or steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions that execute on the computer or other programmable apparatus provide elements or steps for implementing the functions specified in the flow diagram block or blocks.
- blocks of the block diagrams and flow diagrams support combinations of means for performing the specified functions, combinations of elements or steps for performing the specified functions and program instruction means for performing the specified functions. It will also be understood that each block of the block diagrams and flow diagrams, and combinations of blocks in the block diagrams and flow diagrams, can be implemented by special purpose, hardware-based computer systems that perform the specified functions, elements or steps, or combinations of special purpose hardware and computer instructions.
Landscapes
- Physics & Mathematics (AREA)
- Spectroscopy & Molecular Physics (AREA)
- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Biochemistry (AREA)
- Geology (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Environmental & Geological Engineering (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Toxicology (AREA)
- Investigating Or Analysing Materials By Optical Means (AREA)
Abstract
Description
Claims (13)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/694,714 US10295410B2 (en) | 2016-12-22 | 2017-09-01 | Systems and methods for the remote detection of greenhouse atmospheric gas |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201662437942P | 2016-12-22 | 2016-12-22 | |
US201662437956P | 2016-12-22 | 2016-12-22 | |
US15/694,714 US10295410B2 (en) | 2016-12-22 | 2017-09-01 | Systems and methods for the remote detection of greenhouse atmospheric gas |
Publications (2)
Publication Number | Publication Date |
---|---|
US20180180483A1 US20180180483A1 (en) | 2018-06-28 |
US10295410B2 true US10295410B2 (en) | 2019-05-21 |
Family
ID=62629573
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US15/694,714 Active US10295410B2 (en) | 2016-12-22 | 2017-09-01 | Systems and methods for the remote detection of greenhouse atmospheric gas |
Country Status (1)
Country | Link |
---|---|
US (1) | US10295410B2 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11994462B1 (en) * | 2023-02-13 | 2024-05-28 | Ball Aerospace & Technologies Corp. | Multi-spectral methods and systems for day and night sensing of greenhouse gas sources from space |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20230056282A1 (en) * | 2021-08-19 | 2023-02-23 | Rosemount Inc. | Open path gas detector based on spectrometer |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20100301214A1 (en) * | 2009-06-02 | 2010-12-02 | Flir Systems Ab | Infrared camera for gas detection |
US20130050466A1 (en) * | 2010-02-26 | 2013-02-28 | Ahmet Enis Cetin | Method, device and system for determining the presence of volatile organic and hazardous vapors using an infrared light source and infrared video imaging |
US20130327942A1 (en) * | 2012-06-06 | 2013-12-12 | Raytheon Company | Compact spectrometer for remote hydrocarbon detection |
US20140002667A1 (en) * | 2011-03-25 | 2014-01-02 | Joseph M. Cheben | Differential Infrared Imager for Gas Plume Detection |
US20150371386A1 (en) * | 2014-06-23 | 2015-12-24 | Yousheng Zeng | Methods and Systems for Detecting a Chemical Species |
-
2017
- 2017-09-01 US US15/694,714 patent/US10295410B2/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20100301214A1 (en) * | 2009-06-02 | 2010-12-02 | Flir Systems Ab | Infrared camera for gas detection |
US20130050466A1 (en) * | 2010-02-26 | 2013-02-28 | Ahmet Enis Cetin | Method, device and system for determining the presence of volatile organic and hazardous vapors using an infrared light source and infrared video imaging |
US20140002667A1 (en) * | 2011-03-25 | 2014-01-02 | Joseph M. Cheben | Differential Infrared Imager for Gas Plume Detection |
US20130327942A1 (en) * | 2012-06-06 | 2013-12-12 | Raytheon Company | Compact spectrometer for remote hydrocarbon detection |
US20150371386A1 (en) * | 2014-06-23 | 2015-12-24 | Yousheng Zeng | Methods and Systems for Detecting a Chemical Species |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11994462B1 (en) * | 2023-02-13 | 2024-05-28 | Ball Aerospace & Technologies Corp. | Multi-spectral methods and systems for day and night sensing of greenhouse gas sources from space |
Also Published As
Publication number | Publication date |
---|---|
US20180180483A1 (en) | 2018-06-28 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US11467098B2 (en) | Systems and methods for monitoring remote installations | |
Manolakis et al. | Hyperspectral imaging remote sensing: physics, sensors, and algorithms | |
Csiszar et al. | Active fires from the Suomi NPP Visible Infrared Imaging Radiometer Suite: Product status and first evaluation results | |
Bernstein et al. | Quick atmospheric correction code: algorithm description and recent upgrades | |
US20150316473A1 (en) | Mobile gas and chemical imaging camera | |
EP3092468B1 (en) | Fabry-perot interferometer based satellite detection of atmospheric trace gases | |
US8131511B2 (en) | Apparatus for registering and analyzing the spectral signature of a dynamic event | |
Bosch et al. | Multisensor network system for wildfire detection using infrared image processing | |
Oppenheimer | Ultraviolet sensing of volcanic sulfur emissions | |
US20200232963A1 (en) | System and method for airborne hyperspectral detection of hydrocarbon gas leaks | |
Platt et al. | Ground-based remote sensing and imaging of volcanic gases and quantitative determination of multi-species emission fluxes | |
US10295410B2 (en) | Systems and methods for the remote detection of greenhouse atmospheric gas | |
Pennypacker et al. | FUEGO—Fire Urgency Estimator in Geosynchronous Orbit—a proposed early-warning fire detection system | |
CN105675149A (en) | Pneumatic optical effect corrector based on self-illuminating wavefront sensor | |
Driggers et al. | Detection of small targets in the infrared: an infrared search and track tutorial | |
Boccaletti et al. | Two cold belts in the debris disk around the G-type star NZ Lupi | |
Desgrange et al. | In-depth direct imaging and spectroscopic characterization of the young Solar System analog HD 95086 | |
US11692932B2 (en) | Methane monitoring and detection apparatus and methods | |
Loeb et al. | Fusion of CERES, MISR, and MODIS measurements for top‐of‐atmosphere radiative flux validation | |
CN111047686A (en) | Real-time imaging simulation system for unmanned photoelectric equipment | |
Hogan et al. | Low-cost multispectral vegetation imaging system for detecting leaking CO 2 gas | |
WO2021247795A1 (en) | Calibration network systems and methods of using the same | |
US8065095B2 (en) | Systems for terrestrial target detection and characterization using a dispersed fourier transform spectrometer | |
Bornancini et al. | Environment of 1≤ z≤ 2 MIR selected obscured and unobscured AGNs in the Extended Chandra Deep Field South | |
Zou et al. | Design and test of portable hyperspectral imaging spectrometer |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
FEPP | Fee payment procedure |
Free format text: ENTITY STATUS SET TO UNDISCOUNTED (ORIGINAL EVENT CODE: BIG.); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY |
|
AS | Assignment |
Owner name: QUANTUM SPATIAL, INC., FLORIDA Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:NOWICKI, SCOTT;NOWICKI, KEITH;SIGNING DATES FROM 20170901 TO 20170907;REEL/FRAME:043559/0914 |
|
AS | Assignment |
Owner name: CERBERUS BUSINESS FINANCE, LLC, AS COLLATERAL AGEN Free format text: SECURITY AGREEMENT - PATENTS;ASSIGNOR:QUANTUM SPATIAL, INC.;REEL/FRAME:044207/0646 Effective date: 20171117 |
|
STPP | Information on status: patent application and granting procedure in general |
Free format text: NOTICE OF ALLOWANCE MAILED -- APPLICATION RECEIVED IN OFFICE OF PUBLICATIONS |
|
STPP | Information on status: patent application and granting procedure in general |
Free format text: PUBLICATIONS -- ISSUE FEE PAYMENT VERIFIED |
|
STCF | Information on status: patent grant |
Free format text: PATENTED CASE |
|
AS | Assignment |
Owner name: TWIN BROOK CAPITAL PARTNERS, LLC, AS AGENT, ILLINO Free format text: SECURITY INTEREST;ASSIGNOR:QUANTUM SPATIAL, INC.;REEL/FRAME:050277/0594 Effective date: 20190905 Owner name: TWIN BROOK CAPITAL PARTNERS, LLC, AS AGENT, ILLINOIS Free format text: SECURITY INTEREST;ASSIGNOR:QUANTUM SPATIAL, INC.;REEL/FRAME:050277/0594 Effective date: 20190905 |
|
AS | Assignment |
Owner name: QUANTUM SPATIAL, INC., FLORIDA Free format text: RELEASE BY SECURED PARTY;ASSIGNOR:CERBERUS BUSINESS FINANCE, LLC, AS COLLATERAL AGENT;REEL/FRAME:050289/0924 Effective date: 20190905 |
|
AS | Assignment |
Owner name: TWIN BROOK CAPITAL PARTNERS, LLC, AS AGENT, ILLINO Free format text: CORRECTIVE ASSIGNMENT TO CORRECT THE INCORRECT APPLICATION NUMBER 29/688475 PREVIOUSLY RECORDED ON REEL 050277 FRAME 0594. ASSIGNOR(S) HEREBY CONFIRMS THE PATENT SECURITY AGREEMENT;ASSIGNOR:QUANTUM SPATIAL, INC.;REEL/FRAME:050461/0974 Effective date: 20190905 Owner name: TWIN BROOK CAPITAL PARTNERS, LLC, AS AGENT, ILLINOIS Free format text: CORRECTIVE ASSIGNMENT TO CORRECT THE INCORRECT APPLICATION NUMBER 29/688475 PREVIOUSLY RECORDED ON REEL 050277 FRAME 0594. ASSIGNOR(S) HEREBY CONFIRMS THE PATENT SECURITY AGREEMENT;ASSIGNOR:QUANTUM SPATIAL, INC.;REEL/FRAME:050461/0974 Effective date: 20190905 |
|
AS | Assignment |
Owner name: BANK OF AMERICA, N.A., AS ADMINISTRATIVE AGENT, CA Free format text: SECURITY INTEREST;ASSIGNOR:QUANTUM SPATIAL, INC.;REEL/FRAME:051352/0311 Effective date: 20191220 Owner name: BANK OF AMERICA, N.A., AS ADMINISTRATIVE AGENT, CALIFORNIA Free format text: SECURITY INTEREST;ASSIGNOR:QUANTUM SPATIAL, INC.;REEL/FRAME:051352/0311 Effective date: 20191220 |
|
AS | Assignment |
Owner name: QUANTUM SPATIAL, INC., FLORIDA Free format text: RELEASE BY SECURED PARTY;ASSIGNOR:TWIN BROOK CAPITAL PARTNERS, LLC;REEL/FRAME:051542/0759 Effective date: 20191220 |
|
MAFP | Maintenance fee payment |
Free format text: PAYMENT OF MAINTENANCE FEE, 4TH YEAR, LARGE ENTITY (ORIGINAL EVENT CODE: M1551); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY Year of fee payment: 4 |
|
AS | Assignment |
Owner name: NV5 GEOSPATIAL, INC., FLORIDA Free format text: CHANGE OF NAME;ASSIGNOR:QUANTUM SPATIAL, INC.;REEL/FRAME:062762/0474 Effective date: 20221101 |